Streaming H264 using RaspberryPi camera

The way you have chosen is the best one I believe. Gstreamer has android examples ready to use (via NDK): http://docs.gstreamer.com/display/GstSDK/Android+tutorial+3%3A+Video

You can find sample application here: https://play.google.com/store/apps/details?id=pl.effisoft.rpicamviewer2